/* 
 * File: iRobotControl.h
 * Author: Tetsuya Idota and Brian Fehrman
 * Description: function prototypes for the iRobotControl functions
 * Created on (date): 2-5-2013
 */

#ifndef IROBOTCONTROL_H
#define	IROBOTCONTROL_H

#include <inttypes.h>
#include <avr/io.h>
#include <util/delay.h>
#include <inttypes.h>
#include "usart.h"

//Driving Commands//
void DriveRL( int16_t rspeed, int16_t lspeed );
void DriveStop();
void DriveForward(uint16_t speed);
void DriveReverse(uint16_t speed);
void Rotate180( uint16_t speed );
void DriveDist(uint16_t speed, uint16_t dist);
void TurnAngle(int16_t angle, uint16_t speed );



#endif	/* IROBOTCONTROL_H */

